private void FormRoombaMovementPanel_FormClosing(object sender, FormClosingEventArgs e)
{
if (_robotController != null)
{
_robotController.Dispose();
_robotController = null;
}
ARC.FormMain.MovementPanel = null;
EZBManager.PrimaryEZB.OnConnectionChange2 -= PrimaryEZB_OnConnectionChange2;
EZBManager.MovementManager.OnMovement2 -= Movement_OnMovement2;
EZBManager.MovementManager.OnSpeedChanged -= MovementManager_OnSpeedChanged;
if (ARC.Scripting.ScriptManager.DoesExecutorExist(Text))
{
var s = ARC.Scripting.ScriptManager.GetExecutor(Text);
s.OnDone -= S_OnDone;
s.OnError -= S_OnError;
s.OnResult -= S_OnResult;
s.OnStart -= S_OnStart;
ARC.Scripting.ScriptManager.RemoveExecutor(Text);
}
}
private void PrimaryEZB_OnConnectionChange2(EZB sender, bool isConnected)
{
var portType = (Config.ConfigTitles.PortTypeEnum)_cf.STORAGE[Config.ConfigTitles.CONNECTION_TYPE];
if (portType == ConfigTitles.PortTypeEnum.PC_COM)
{
return;
}
try {
if (isConnected)
{
init();
}
else
{
if (_robotController != null)
{
_robotController.Dispose();
_robotController = null;
}
Invokers.SetAppendText(tbLog, true, "Disconnected");
}
} catch (Exception ex) {
Invokers.SetAppendText(tbLog, true, "Connection change: {0}", ex);
}
}
private void init()
{
if (InvokeRequired)
{
Invoke(new Action(() => init()));
return;
}
tbLog.Clear();
if (_robotController != null)
{
_robotController.OnError -= _robotController_OnError;
_robotController.OnButtonPressed -= _robotController_OnButtonPressed;
_robotController.OnLog -= _robotController_OnLog;
_robotController.OnStreamPacketCnt -= _robotController_OnStreamPacketCnt;
_robotController.Dispose();
_robotController = null;
}
var portType = (Config.ConfigTitles.PortTypeEnum)_cf.STORAGE[Config.ConfigTitles.CONNECTION_TYPE];
IOCommunicator comm;
if (portType == Config.ConfigTitles.PortTypeEnum.Software_Serial)
{
if (!EZBManager.PrimaryEZB.IsConnected)
{
throw new Exception("Not connected to EZB Index #0");
}
var digitalPort = (Digital.DigitalPortEnum)_cf.STORAGE[Config.ConfigTitles.EZB_SERIAL_PORT];
var baudrate = (Uart.BAUD_RATE_ENUM)_cf.STORAGE[Config.ConfigTitles.BAUD_RATE_SERIAL];
tbLog.AppendText(string.Format("Connecting software serial port {0} @ {1}...", digitalPort, baudrate));
comm = new EZBDigitalIOCommunicator(digitalPort, baudrate);
}
else if (portType == Config.ConfigTitles.PortTypeEnum.HW_UART)
{
if (!EZBManager.PrimaryEZB.IsConnected)
{
throw new Exception("Not connected to EZB Index #0");
}
var uartPort = Convert.ToInt16(_cf.STORAGE[Config.ConfigTitles.EZB_UART_PORT]);
var baudRate = Convert.ToInt32(_cf.STORAGE[Config.ConfigTitles.BAUD_RATE_UART]);
tbLog.AppendText(string.Format("Connecting HW UART {0} @ {1}...", uartPort, baudRate));
comm = new EZBUARTIOCommunicator(uartPort, baudRate);
}
else
{
var comPort = _cf.STORAGE[Config.ConfigTitles.PC_COM_PORT].ToString();
var baudRate = Convert.ToInt32(_cf.STORAGE[Config.ConfigTitles.BAUD_RATE_PC]);
tbLog.AppendText(string.Format("Connecting {0} @ {1}...", comPort, baudRate));
comm = new SerialPortIOCommunicator(comPort, baudRate);
}
_robotController = new Create(
comm,
Convert.ToInt32(_cf.STORAGE[Config.ConfigTitles.SENSOR_POLL_TIME_MS]),
Convert.ToBoolean(_cf.STORAGE[Config.ConfigTitles.NMS_POSITION_DATA]));
_robotController.OnError += _robotController_OnError;
_robotController.OnButtonPressed += _robotController_OnButtonPressed;
_robotController.OnLog += _robotController_OnLog;
_robotController.OnStreamPacketCnt += _robotController_OnStreamPacketCnt;
_robotController.SetMode(Create2OI.Types.OperatingMode.FULL);
cbSensorStream_CheckedChanged(null, null);
doMotors();
Invokers.SetAppendText(tbLog, true, "Connected");
}